@inproceedings{73349bb0e5f947b8985f2e7031fddac1,
title = "A Multiple Lyapunov Functions Approach for Formation Tracking Control",
abstract = "This paper proposes a leader-follower formation tracking control problem of autonomous unmanned systems with switching directed topologies, where the leader is dynamic. It is considered that the followers have only access to the leader's position. The distributed observer is designed to estimate the velocity of the leader for each follower. Based on the estimated states, this paper presents a distributed formation tracking control algorithm. Using multiple Lyapunov functions (MLFs) stability is ensured. For dealing with switching topologies, the average dwell time (ADT) concept has been used, which relaxes the traditional dwell time restriction for switching topologies. Finally, a numerical simulation demonstrates the theory's effectiveness.",
keywords = "Formation control, distributed control, multi-agent systems, switching topologies",
author = "Soni, \{Sandeep Kumar\} and Siyuan Wang and Ankit Sachan and Driss Boutat and Mohamed Djemai",
note = "Publisher Copyright: Copyright {\textcopyright} 2022 The Authors.; 13th IFAC Symposium on Robot Control, SYROCO 2022 ; Conference date: 17-10-2022 Through 20-10-2022",
year = "2022",
month = oct,
day = "1",
doi = "10.1016/j.ifacol.2023.01.153",
language = "英语",
series = "IFAC-PapersOnLine",
publisher = "Elsevier B.V.",
number = "38",
pages = "184--189",
editor = "Liz Rincon-Ardilla",
booktitle = "IFAC-PapersOnLine",
address = "荷兰",
edition = "38",
}